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Moved parameter command handling to mavlink app

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This commit is contained in:
Lorenz Meier
2012-08-20 09:32:42 +02:00
parent 2c8fafd12a
commit 41172f24d5
3 changed files with 90 additions and 64 deletions
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apps/commander/commander.c
-40
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@@ -581,46 +581,6 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
}
break;
/* preflight parameter load / store */
case MAV_CMD_PREFLIGHT_STORAGE: {
/* Read all parameters from EEPROM to RAM */
if (((int)cmd->param1) == 0) {
if (OK == get_params_from_eeprom(global_data_parameter_storage)) {
//printf("[commander] Loaded EEPROM params in RAM\n");
mavlink_log_info(mavlink_fd, "[commander] CMD Loaded EEPROM params in RAM");
result = MAV_RESULT_ACCEPTED;
} else {
//fprintf(stderr, "[commander] ERROR loading EEPROM params in RAM\n");
mavlink_log_critical(mavlink_fd, "[commander] ERROR loading EEPROM params in RAM");
result = MAV_RESULT_FAILED;
}
/* Write all parameters from RAM to EEPROM */
} else if (((int)cmd->param1) == 1) {
if (OK == store_params_in_eeprom(global_data_parameter_storage)) {
//printf("[commander] RAM params written to EEPROM\n");
mavlink_log_info(mavlink_fd, "[commander] RAM params written to EEPROM");
result = MAV_RESULT_ACCEPTED;
} else {
//fprintf(stderr, "[commander] ERROR writing RAM params to EEPROM\n");
mavlink_log_critical(mavlink_fd, "[commander] ERROR writing RAM params to EEPROM");
result = MAV_RESULT_FAILED;
}
} else {
//fprintf(stderr, "[commander] refusing unsupported storage request\n");
mavlink_log_critical(mavlink_fd, "[commander] refusing unsupported storage request");
result = MAV_RESULT_UNSUPPORTED;
}
}
break;
default: {
mavlink_log_critical(mavlink_fd, "[commander] refusing unsupported command");
result = MAV_RESULT_UNSUPPORTED;